CN113814990A - Novel power pipeline inspection robot structure device - Google Patents
Novel power pipeline inspection robot structure device Download PDFInfo
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- CN113814990A CN113814990A CN202111017355.8A CN202111017355A CN113814990A CN 113814990 A CN113814990 A CN 113814990A CN 202111017355 A CN202111017355 A CN 202111017355A CN 113814990 A CN113814990 A CN 113814990A
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- 238000007689 inspection Methods 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 230000001360 synchronised effect Effects 0.000 claims abstract description 12
- 239000000523 sample Substances 0.000 claims abstract description 11
- 238000001514 detection method Methods 0.000 claims description 10
- 230000006835 compression Effects 0.000 claims description 5
- 238000007906 compression Methods 0.000 claims description 5
- 230000008859 change Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
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Abstract
The invention discloses a novel power pipeline inspection robot structure device, which comprises a cloud platform (1), a vehicle body (2), an adjusting ring (3), a supporting arm (4), a parallel arm (5), a driving mechanism (6), a synchronous belt (7), a mileage wheel (8), a rotating motor (9) and an ultrasonic probe (10), and is characterized in that: the front end part of the inspection robot structure is formed by connecting a holder (1) and a vehicle body (2), an adjusting ring (3) is connected to the rear of the vehicle body (2), and a driving mechanism (6) is connected to two sides of a main part of the inspection robot structure through a supporting arm (4) and a parallel arm (5) and is connected with a synchronous belt (7).
Description
Technical Field
The invention belongs to the technical field of electric power detection, and particularly relates to a novel structural device of a power pipeline inspection robot.
Background
The use of power pipelines in current power production is rapidly increasing, and the role of the power pipelines is not small. However, the power pipeline may be damaged by corrosion, pressure and other external forces during use. The interior of the power pipeline needs to be regularly checked and maintained, so that the service life of the power pipeline is prolonged, and the work of preventing major safety accidents and the like through regular detection and safety assessment is required. The underground power pipeline inspection is basically performed manually, and the internal condition of the power pipeline can be simply inspected only by using a push rod. Conventional manual methods, mud bucket methods, and mirror methods are inefficient and time consuming. In addition, the use of personnel to detect underground pipes can cause injury and death due to the narrow interior of the underground pipes and the possible presence of harmful gases. At present, various intelligent detection robots for power pipelines are still in the research stage, and mature products are not developed yet. The products at home and abroad which are put into practical application are as follows: the Verdatrax150 pipeline robot has extremely complex body structure, extremely high manufacturing cost, imperfect function (only has a detection function and cannot replace manual cleaning) and only has a front direction and a rear direction in a walking direction, and the like; the WT3090 pipeline detection robot is simple in mechanism, travels in a wheel-walking mode, has poor walking efficiency and obstacle crossing capability, and can only move back and forth to perform a detection function; the peripheral equipment board of this pipeline robot is too big, and it is comparatively inconvenient to use. Therefore, a novel power pipeline inspection robot structure device is needed to conveniently detect the power pipeline.
Disclosure of Invention
The invention aims to provide a novel power pipeline inspection robot structure device.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: a novel power pipeline inspection robot structure device comprises a cloud deck, a vehicle body, an adjusting ring, a supporting arm, a parallel arm, a driving mechanism, a synchronous belt, a mileage wheel, a rotating motor and an ultrasonic probe, wherein the front end part of the inspection robot structure is formed by connecting the cloud deck and the vehicle body; the two driving mechanisms are arranged on two sides of the mileage wheel.
Compared with the prior art, the invention has the following remarkable advantages: 1) the crawler-type pipeline robot has the advantages of large supporting area, small specific pressure, small crawling resistance, good passing performance, and superior performance to pipeline robots of other moving modes in climbing, obstacle crossing and the like.
2) This crawler-type pipeline robot radial evenly distributed's three track all has motor drive separately, can the rotation of independent control track stop, when needs redirecting, one side track speed reduces or stops, and the both sides track is with higher speed to rotate in addition, just can realize the transformation of direction. 3) The crawler belt has crawler teeth on two symmetrical surfaces, so that the crawler belt is firm in ground gripping, not easy to slip, good in adhesion and beneficial to exerting larger traction force. 4) The crawler-type pipeline robot can actively adapt to pipelines with different pipe diameters, and is wide in application range.
Drawings
Fig. 1 is a top view of a tracked pipeline robot provided by an embodiment of the invention.
Fig. 2 is a rotary sectional view of a tracked pipeline robot provided by the embodiment of the invention.
Fig. 3 is a left side view of the tracked pipeline robot provided by the embodiment of the invention.
Detailed Description
The pipeline robot is simple in structure, convenient to operate and high in reliability. The crawler-type wired control structure mode is adopted, and a novel multi-section type mechanism and wireless intelligent control can be adopted. The driving wheel of the driving part adopts an inclined design and can walk in a circular power pipeline. The electric pipeline robot carrying platform is a platform which takes a motion mechanism as a carrier and can selectively carry related detection instruments according to tasks. The device is mainly used for rapid detection and diagnosis in the electric power pipeline, is provided with a powerful illumination light source and a portable control system, and is very suitable for the field and mobile workplaces, including pipelines with or without cables in the pipeline.
With reference to fig. 1, the novel power pipeline inspection robot structure device comprises a cradle head 1, a vehicle body 2, an adjusting ring 3, a supporting arm 4, a parallel arm 5, a driving mechanism 6, a synchronous belt 7, a mileage wheel 8, a rotating motor 9 and an ultrasonic probe 10, wherein the front end part of the inspection robot structure is formed by connecting the cradle head 1 and the vehicle body 2, the adjusting ring 3 is connected to the rear of the vehicle body 2, the driving mechanism 6 is connected to two sides of the main part of the inspection robot structure through the supporting arm 4 and the parallel arm 5 and is connected with the synchronous belt 7, the main part of the inspection robot structure is the mileage wheel 8, the rotating motor 9 is arranged at the lower end of the mileage wheel 8, and the ultrasonic probe 10 is connected to the tail part of the rotating motor 9; two drive mechanisms 6 are provided on both sides of the mileage wheel 8.
With reference to fig. 2, the drive mechanism 6 includes: the front end connecting part, the middle connecting part, the driving motor 30 and the driving wheel 29 connected with the driving motor 30 are driven to walk by changing the radial distance between the driving mechanism 6 and the vehicle body 2;
wherein the middle connecting portion of the driving mechanism 6 includes: the inspection robot comprises a guide groove 22, a parallel arm 5 connecting a main part of the inspection robot structure and the guide groove 22, a gear seat 28 connected to the guide groove, and a synchronous belt 7 arranged on the gear seat, wherein the synchronous belt 7 comprises a driving wheel 23, a driven wheel 19, a belt 21 and an auxiliary wheel 20 arranged between the guide groove 22 and a guide groove cover 6, the gear seat 28 comprises a driving gear 27 and a driven gear 24 arranged in the gear seat 28, and the driven gear 24 is coupled with the driving wheel 23 through the synchronous belt 7;
the front end connecting portion of the drive mechanism 6 includes: the adjusting ring 3 is connected with the slider seat 14 through threads, and comprises a stud 12, a locking nut 13, a slider 16, a supporting arm 4, a compression spring 15, a locking gasket 17 and a sleeve 18, wherein one end of the supporting arm is connected with the slider seat 14, the other end of the supporting arm is connected with a guide groove 22, and the compression spring 15, the locking gasket 17 and the rear part of the supporting arm are connected with the sleeve 18;
the drive mechanism 6 further comprises a sleeve 18, and the compression spring 15 is sleeved on the sleeve 18.
The drive mechanism 6 further includes a rear housing 31, and a rear housing cover 25 provided on the rear housing 31, wherein the slider holder 14 is fixed to the rear housing 31.
The driving gear 27 is a driving helical gear, and the driven gear 24 is a worm gear.
A rotating motor 9 is arranged between the mileage wheel 8 and the ultrasonic probe 10, a mileage sensor is arranged on the mileage wheel 8, a detector is arranged in the mileage wheel positioning mechanism, and the mileage wheel 8 is connected with the detector.
The detection mechanism includes: the ultrasonic probe 10, and the retractor 26 installed under the ultrasonic probe 10 are used to pull the cable.
When the robot walks in the pipeline, three crawler wheels of the crawler walking device are driven by a stepping motor of the active adaptation device to be opened to a certain angle, so that the crawler is attached to the inner wall of the pipeline and tightly pressed. At this time, friction occurs between the crawler wheels and the inner wall of the pipeline, and friction force consistent with the walking direction of the robot is generated, namely the power for the robot to walk. When the vertical pipeline climbs, the stepping motor can provide enough driving force to overcome gravity and various resistances, so that the robot can smoothly cling to the inner pipe wall to ascend or descend. In addition, the three crawler wheels are respectively driven by respective motors without mutual influence, and the robot is steered by controlling the traveling speed of each crawler wheel and utilizing the speed difference.
The pressure sensor is arranged on the ball screw of the active adaptation device of the pipeline robot, so that the positive pressure between the crawler wheel of the robot and the inner wall of the pipeline can be ensured to be always in a stable range, and the pipeline robot is ensured to have stable traction force output. The CCD camera is installed on the main shaft holder, and can output the image data in the pipeline detected by the robot to the outside and display the image data in the video display, so that the working personnel can master the dynamics of the robot and the environment in the pipeline at any time.
The robot can adapt to the different pipelines that the pipe diameter changes at 200mm ~300mm within range, thereby its theory of operation is step motor through shaft coupling drive ball screw rotate drive nut remove, then promote the connecting rod and change the opening and shutting angle that initiative crank and driven crank supported the angle and adjust the athey wheel, and change this robot external diameter size, adapt to the pipeline of different pipe diameters. In practice, it can be seen that the robot nut moves back and forth within a fixed range, which corresponds to the change from the smallest to the largest outer diameter of the robot. The diameter-changing range of the pipeline robot is 100mm, the variation range of the elevation angle of the driving crank of the robot is 18.39-74.96 degrees, the driving crank and the driven crank of the robot cannot interfere in the range, and the requirement of the diameter-changing range of the robot is met.
Claims (7)
1. The utility model provides a novel power pipeline inspection robot structure device, includes cloud platform (1), automobile body (2), adjusting collar (3), support arm (4), parallel arm (5), actuating mechanism (6), hold-in range (7), mileage wheel (8), rotating electrical machines (9) and ultrasonic transducer (10), its characterized in that: the front end part of the inspection robot structure is formed by connecting a cradle head (1) and a vehicle body (2), an adjusting ring (3) is connected to the rear of the vehicle body (2), a driving mechanism (6) is connected to two sides of a main part of the inspection robot structure through a supporting arm (4) and a parallel arm (5) and is connected with a synchronous belt (7), the main part of the inspection robot structure is a mileage wheel (8), a rotating motor (9) is arranged at the lower end of the mileage wheel (8), and an ultrasonic probe (10) is connected to the tail part of the rotating motor (9); the two driving mechanisms (6) are arranged on two sides of the mileage wheel (8).
2. The novel power pipeline inspection robot structure device according to claim 1, characterized in that: the drive mechanism (6) comprises: the front end connecting part, the middle connecting part, the driving motor (30) and the driving wheel (29) connected with the driving motor (30) are driven to walk by changing the radial distance between the driving mechanism (6) and the vehicle body (2);
wherein the middle connection portion of the drive mechanism (6) comprises: the inspection robot comprises a guide groove (22), a parallel arm (5) for connecting a main part of an inspection robot structure and the guide groove (22), a gear seat (28) connected to the guide groove, and a synchronous belt (7) arranged on the gear seat, wherein the synchronous belt (7) comprises a driving wheel (23), a driven wheel (19), a belt (21) and an auxiliary wheel (20) arranged between the guide groove (22) and a guide groove cover (6), the gear seat (28) comprises a driving gear (27) and a driven gear (24) arranged in the gear seat (28), and the driven gear (24) is coupled with the driving wheel (23) through the synchronous belt (7);
the front end connecting portion of the drive mechanism (6) includes: the adjusting ring (3) and the sliding block seat (14) with threads on the outer surface are connected through threads, the adjusting ring (3) and the sliding block seat (14) comprise a stud (12), a locking nut (13), a sliding block (16) and a supporting arm (4), one end of the supporting arm is connected with the sliding block seat (14), the other end of the supporting arm is connected with a guide groove (22), and a compression spring (15), a locking gasket (17) and a rear connecting sleeve (18) are arranged between the sliding block (16) and the sliding block seat (14).
3. The novel power pipeline inspection robot structure device according to claim 2, characterized in that: the driving mechanism (6) further comprises a sleeve (18), and the compression spring (15) is sleeved on the sleeve (18).
4. The novel power pipeline inspection robot structure device according to claim 2, characterized in that: the drive mechanism (6) further comprises a rear housing (31), a rear housing cover (25) provided on the rear housing (31), wherein the slider holder (14) is fixed to the rear housing (31).
5. The novel power pipeline inspection robot structure device according to claim 2, characterized by comprising: the driving gear (27) adopts a driving helical gear, and the driven gear (24) adopts a worm gear.
6. The novel power pipeline inspection robot structure device according to claim 1, characterized in that: a rotating motor (9) is arranged between the mileage wheel (8) and the ultrasonic probe (10), a mileage sensor is arranged on the mileage wheel (8), a detector is arranged in the mileage wheel positioning mechanism, and the mileage wheel (8) is connected with the detector.
7. The power pipeline inspection robot structural device according to claim 1, characterized in that: the detection mechanism includes: the ultrasonic probe (10) and a draw hook (26) arranged below the ultrasonic probe (10) are used for drawing the cable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111017355.8A CN113814990A (en) | 2021-08-31 | 2021-08-31 | Novel power pipeline inspection robot structure device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111017355.8A CN113814990A (en) | 2021-08-31 | 2021-08-31 | Novel power pipeline inspection robot structure device |
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| CN113814990A true CN113814990A (en) | 2021-12-21 |
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| CN202111017355.8A Pending CN113814990A (en) | 2021-08-31 | 2021-08-31 | Novel power pipeline inspection robot structure device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117630034A (en) * | 2023-11-13 | 2024-03-01 | 湖南金航船舶制造有限公司 | Device and method for detecting weld joint of movable container ship |
| CN117630034B (en) * | 2023-11-13 | 2024-05-24 | 湖南金航船舶制造有限公司 | Device and method for detecting weld joint of movable container ship |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102913715A (en) * | 2012-09-14 | 2013-02-06 | 北京信息科技大学 | Robot for detecting small pipeline |
| CN203615897U (en) * | 2013-09-23 | 2014-05-28 | 北京石油化工学院 | Pipeline internal diameter measure apparatus based on displacement sensor |
| CN104565675A (en) * | 2014-06-20 | 2015-04-29 | 北京石油化工学院 | Pipeline detection robot |
| CN108180346A (en) * | 2017-11-21 | 2018-06-19 | 金华送变电工程有限公司 | A kind of pipeline inspecting robot |
| CN209963644U (en) * | 2019-08-09 | 2020-01-17 | 王茜雯 | Foreign matter removing device for power transmission line |
| CN213278954U (en) * | 2020-10-09 | 2021-05-25 | 陕西秦中电力有限公司 | A inspection device for transmission line construction |
-
2021
- 2021-08-31 CN CN202111017355.8A patent/CN113814990A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102913715A (en) * | 2012-09-14 | 2013-02-06 | 北京信息科技大学 | Robot for detecting small pipeline |
| CN203615897U (en) * | 2013-09-23 | 2014-05-28 | 北京石油化工学院 | Pipeline internal diameter measure apparatus based on displacement sensor |
| CN104565675A (en) * | 2014-06-20 | 2015-04-29 | 北京石油化工学院 | Pipeline detection robot |
| CN108180346A (en) * | 2017-11-21 | 2018-06-19 | 金华送变电工程有限公司 | A kind of pipeline inspecting robot |
| CN209963644U (en) * | 2019-08-09 | 2020-01-17 | 王茜雯 | Foreign matter removing device for power transmission line |
| CN213278954U (en) * | 2020-10-09 | 2021-05-25 | 陕西秦中电力有限公司 | A inspection device for transmission line construction |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117630034A (en) * | 2023-11-13 | 2024-03-01 | 湖南金航船舶制造有限公司 | Device and method for detecting weld joint of movable container ship |
| CN117630034B (en) * | 2023-11-13 | 2024-05-24 | 湖南金航船舶制造有限公司 | Device and method for detecting weld joint of movable container ship |
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Application publication date: 20211221 |